\hypertarget{classAprilTags_1_1GLine2D}{}\doxysection{April\+Tags\+::GLine2D Class Reference}
\label{classAprilTags_1_1GLine2D}\index{AprilTags::GLine2D@{AprilTags::GLine2D}}


A 2D line.  




{\ttfamily \#include $<$GLine2\+D.\+h$>$}

\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_afa1924912e2360ddd8288697333ef9ef}\label{classAprilTags_1_1GLine2D_afa1924912e2360ddd8288697333ef9ef}} 
\mbox{\hyperlink{classAprilTags_1_1GLine2D_afa1924912e2360ddd8288697333ef9ef}{GLine2D}} ()
\begin{DoxyCompactList}\small\item\em Create a new line. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a511054cf51f75c7459488bcf78998754}\label{classAprilTags_1_1GLine2D_a511054cf51f75c7459488bcf78998754}} 
\mbox{\hyperlink{classAprilTags_1_1GLine2D_a511054cf51f75c7459488bcf78998754}{GLine2D}} (float slope, float b)
\begin{DoxyCompactList}\small\item\em Create a new line. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a086d175b2af15ef5ceb25004b3ba237a}\label{classAprilTags_1_1GLine2D_a086d175b2af15ef5ceb25004b3ba237a}} 
\mbox{\hyperlink{classAprilTags_1_1GLine2D_a086d175b2af15ef5ceb25004b3ba237a}{GLine2D}} (float dX, float dY, const std\+::pair$<$ float, float $>$ \&pt)
\begin{DoxyCompactList}\small\item\em Create a new line. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a2c8d58b3871cac68cacb2426f81922f8}\label{classAprilTags_1_1GLine2D_a2c8d58b3871cac68cacb2426f81922f8}} 
\mbox{\hyperlink{classAprilTags_1_1GLine2D_a2c8d58b3871cac68cacb2426f81922f8}{GLine2D}} (const std\+::pair$<$ float, float $>$ \&p1, const std\+::pair$<$ float, float $>$ \&p2)
\begin{DoxyCompactList}\small\item\em Create a new line through two points. \end{DoxyCompactList}\item 
float \mbox{\hyperlink{classAprilTags_1_1GLine2D_a5a108fcc6d0174cd10c4551983193567}{get\+Line\+Coordinate}} (const std\+::pair$<$ float, float $>$ \&p)
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a107272ab70c6283f2c48899ab6fc2c41}\label{classAprilTags_1_1GLine2D_a107272ab70c6283f2c48899ab6fc2c41}} 
std\+::pair$<$ float, float $>$ \mbox{\hyperlink{classAprilTags_1_1GLine2D_a107272ab70c6283f2c48899ab6fc2c41}{get\+Point\+Of\+Coordinate}} (float coord)
\begin{DoxyCompactList}\small\item\em The inverse of get\+Line\+Coordinate. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a19ab532413bcdc53ea3e8ec665e69793}\label{classAprilTags_1_1GLine2D_a19ab532413bcdc53ea3e8ec665e69793}} 
std\+::pair$<$ float, float $>$ \mbox{\hyperlink{classAprilTags_1_1GLine2D_a19ab532413bcdc53ea3e8ec665e69793}{intersection\+With}} (const \mbox{\hyperlink{classAprilTags_1_1GLine2D}{GLine2D}} \&line) const
\begin{DoxyCompactList}\small\item\em Compute the point where two lines intersect, or (-\/1,0) if the lines are parallel. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a156a2aa099ff0987020aea5c3a131250}\label{classAprilTags_1_1GLine2D_a156a2aa099ff0987020aea5c3a131250}} 
float {\bfseries get\+Dx} () const
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a2cfb2a081b02b738b4bc5cf0a96c2a04}\label{classAprilTags_1_1GLine2D_a2cfb2a081b02b738b4bc5cf0a96c2a04}} 
float {\bfseries get\+Dy} () const
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_acb3d484cb11212a5e9e4fa2fd68e8b2f}\label{classAprilTags_1_1GLine2D_acb3d484cb11212a5e9e4fa2fd68e8b2f}} 
float {\bfseries get\+First} () const
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a9a80d6c0d9c0a41d7f55175dab0c9404}\label{classAprilTags_1_1GLine2D_a9a80d6c0d9c0a41d7f55175dab0c9404}} 
float {\bfseries get\+Second} () const
\end{DoxyCompactItemize}
\doxysubsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_aa079ddeafe267a4c96523ceb55a29bb6}\label{classAprilTags_1_1GLine2D_aa079ddeafe267a4c96523ceb55a29bb6}} 
static \mbox{\hyperlink{classAprilTags_1_1GLine2D}{GLine2D}} {\bfseries lsq\+Fit\+XYW} (const std\+::vector$<$ \mbox{\hyperlink{structAprilTags_1_1XYWeight}{XYWeight}} $>$ \&xyweights)
\end{DoxyCompactItemize}
\doxysubsection*{Protected Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a04a429e0c6591a9a6779a0341aaa2dd3}\label{classAprilTags_1_1GLine2D_a04a429e0c6591a9a6779a0341aaa2dd3}} 
void {\bfseries normalize\+Slope} ()
\item 
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a59f60799540ca6ba6ceac612beb11160}\label{classAprilTags_1_1GLine2D_a59f60799540ca6ba6ceac612beb11160}} 
void {\bfseries normalizeP} ()
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
A 2D line. 

\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{classAprilTags_1_1GLine2D_a5a108fcc6d0174cd10c4551983193567}\label{classAprilTags_1_1GLine2D_a5a108fcc6d0174cd10c4551983193567}} 
\index{AprilTags::GLine2D@{AprilTags::GLine2D}!getLineCoordinate@{getLineCoordinate}}
\index{getLineCoordinate@{getLineCoordinate}!AprilTags::GLine2D@{AprilTags::GLine2D}}
\doxysubsubsection{\texorpdfstring{getLineCoordinate()}{getLineCoordinate()}}
{\footnotesize\ttfamily float April\+Tags\+::\+GLine2\+D\+::get\+Line\+Coordinate (\begin{DoxyParamCaption}\item[{const std\+::pair$<$ float, float $>$ \&}]{p }\end{DoxyParamCaption})}

Get the coordinate of a point (on this line), with zero corresponding to the point on the that is perpendicular toa line passing through the origin and the line. 

The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
calico/third\+\_\+party/apriltags/apriltags/GLine2\+D.\+h\item 
calico/third\+\_\+party/apriltags/src/GLine2\+D.\+cc\end{DoxyCompactItemize}
